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2
a
1
a
1
L
in
k
2
L
i
n
k
) , , ( Z Y X
0
Y
0
Z
0
X
1 Y
1 Z
1 X
2
Y
2
Z
2
X
Figure 1. Derivation of forward kinematics for two links robot manipulator by using DH technique
Moreover, we can also derive the kinematics Jacobian fromequations (1) and (2) as follows:
159
oX
o0
1
=o
1
sin0
1
o
2
sin(0
1
+0
2
)
(4)
o
o0
1
=o
1
cos0
1
+o
2
cos (0
1
+0
2
)
(5)
oX
o0
2
=o
2
sin (0
1
+0
2
)
(6)
o
o0
2
=o
2
cos (0
1
+0
2
)
(7)
z
0
1
= 0
(8)
oZ
o0
2
= 0
(9)
Similarly, the forward kinematics of the BERUL fingers can be easily derived by using the D-H technique. A
sufficient of the forward kinematics of the BERUL finger has been shown in [16]. Apart fromusing D-H
technique, Jalani [16] also introduced a new technique via Roborealm to obtain a sufficient forward
kinematics of the BERUL fingers. The forward kinematics results obtained in [16] can be practically used for
positioning control in the Cartesian space. Subsequently, the Jacobian can be easily obtained once the forward
kinematics is available.
III. CONTROLLER DESIGN
The structure of the proposed controller for the BERUL fingers is shown in Figure 2. The function of the
controller is to control the finger position for example X coordinate so that it moves to the desired position
X
d
.
d
X
q q,
+
-
X
F
Figure 2. The structure of the proposed controller
For controller design, the model
q + =u (10)
is considered, where m is the generalized mass/inertia, is a lumped expression for the major nonlinearities
i.e. gravity, friction and centrifugal/coriolis force.
A. Sliding Mode Controller (SMC)
Motivated by the recent development of the SMC on a two-link rigid robotic manipulator through simulation
[18], the same controller is applied for the BERUL fingers. Using the general dynamic equation of (10), a
suitable sliding mode controller [18] is designed as follows. The joint torque vector can be split into two
additive terms:
where m
0
(q),
0
(q,q)
R
nxn
are positive scalars
determining the closed loop performance; and the tracking error is defined as q
c
(
t
)
=q(
t
)
q
d
(
t
) with
[q
d
(
t
)
q
d
(
t
)
q
d
(
t
)
]
being the reference trajectory and its time derivatives. Note that
0 represents the
computed torque component and
1
denotes a discontinuous torque control. The discontinuous torque
control and sliding manifold are respectively defined as
=
0
+
1
(11)
160
1
=
0
sign(s)
(12)
s =q
c +
K
s
q
c
(13)
In order to control the effect of the chattering, the following termis used,
s
s +|o|
(14)
instead of sign(s) where o allows to suppress chattering.
B. PID Controller
For the purpose of comparison, a PID control scheme is adopted from Ge et al. [14] and Jalani et al. [15].
Then, the control input term(fromequation (14) as given in [15]) can be simplified as follows.
u =k
1
+k
_rJt
t
0
(15)
where k
1
represents a proportional gain and k
0
= m
0
(q)(q
d
K
q
c
K
P
q
c +
0
(q,q )),
(18)
The obtained Jacobian will be used for the following applied torque
u =[
1
F
(19)
where F is the actuator of the finger. This implies that the dynamics of (10) can be rewritten as:
[
-1
m[
-1
x [
-1
m[
-1
[
q +[
-1
=[
-1
u
(20)
or
mx +
`
=F
(21)
where
m =[
-1
m[
-1
(22)
and
`
=[
-1
m[
-1
[
q +[
-1
(23)
and
F =[
-1
u
(24)
This new model allows the sliding mode approaches of Shi et al. [18] to be used.
IV. EXPERIMENTAL SETUP
For the real time implementation of the control scheme, a dSPACE DS1106 embedded systemis employed.
The Simulink model of the scheme is compiled into real-time C code and run in the dSPACE system. A
sampling time of 1 millisecond is used. The BERUL fingers use optical encoders for position and velocity.
x =[
q +[q (17)
161
Each joint is equipped with a Maxon EPOS programmable digital motor controller. All the sensors and
actuators of each joint are connected to the EPOS positioning controllers, which communicate with dSPACE
via a CAN-Bus and provide the low-level current control for torque demands with the brush-less DC motors.
A multi-step demand is applied in y and z direction. In general, Figure 3 shows the experimental setup for
the BERUL fingers.
Figure 3. Experimental setup for theBERUL fingers
V. TRACKING PERFORMANCE
Based on a given workspace as shown in Figure 4, the tracking in Cartesian space is practically illustrated in
y direction for index, middle, ring and small fingers. In contrary, the thumb is practically depicted in either x
and/or z direction.
Figure 4. Workspace for the BERUL fingers
Here, only ring and thumb fingers are practically shown in Cartesian space control. Generally, the results
show that the PID and the SMC follow a required trajectory satisfactorily as shown in Figure 5(a), Figure
5(b), Figure 6(a) and Figure 6(b) respectively. The detailed performance fromeach controller can be seen
by using a quantitative measure of performance as indicated by [19] and [20] which is computed as follows:
NormolizcJ Error =|yJi yi|/ N
s
N
s
=0
(25)
while we also consider
NormolizcJ Error =|u
|
2
N
s
=0
(26)
where yJi is the demand signals, yi is the output signal, N
s
is the number of samples and u
is the control
signal.
-0.1
-0.08
-0.06
-0.04
-0.02
0
0.02
0.04
-0.1
-0.05
0
0.05
0.1
0.15
-0.1
-0.05
0
0.05
0.1
0.15
Y axis
X axis
Z
a
x
i
s
index
workspace
ring
workspace
small workspace
thumb
workspace
middle
workspace
162
(a)Ring finger for y position
(b)Thumb finger for z position
Figure 5. Cartesian Space Control for PID
(a)Ring finger for y position
0 10 20 30 40 50 60 70 80 90 100
-0.2
-0.1
0
Time (sec)
(
m
)
Demand
Actual
0 10 20 30 40 50 60 70 80 90 100
-0.02
0
0.02
Time (sec)
E
r
r
o
r
(
m
)
0 10 20 30 40 50 60 70 80 90 100
-200
0
200
Time (sec)
C
o
n
t
r
o
l
S
i
g
n
a
l
(
m
A
)
0 10 20 30 40 50 60 70 80 90 100
-0.04
-0.02
0
Time (sec)
(
m
)
Demand
Actual
0 10 20 30 40 50 60 70 80 90 100
-5
0
5
x 10
-3
Time (sec)
E
r
r
o
r
(
m
)
0 10 20 30 40 50 60 70 80 90 100
-1000
0
1000
Time (sec)
C
o
n
t
r
o
l
S
i
g
n
a
l
(
m
A
)
0 10 20 30 40 50 60 70 80 90 100
-0.2
-0.1
0
Time (sec)
(
m
)
Demand
Actual
0 10 20 30 40 50 60 70 80 90 100
-0.02
0
0.02
Time (sec)
E
r
r
o
r
(
m
)
0 10 20 30 40 50 60 70 80 90 100
-200
0
200
Time (sec)
C
o
n
t
r
o
l
S
i
g
n
a
l
(
m
A
)
163
(b)Thumb finger for z position
Figure 6. Cartesian Space Control for SMC
TABLE I. NORMALI ZED ERROR AND TOTAL CONTROL ENERGY FOR THUMB AND RING FINGERS
Finger Controllers Normalized
Error (rad)
Total Control
Energy (mA)
Thumb
PID
0.0022
2.2184 10
5
Thumb
SMC
3.7260 10
-4
3.6717 10
5
Ring
PID
0.0054
1.9231 10
3
Ring
SMC
0.0026
1.3934 10
3
It is found that the SMC has the smallest normalized error for the thumb and the ring finger. However, the
PID controller uses smaller total control energy for the thumb finger and the SMC controller produces
smaller total control energy for the ring finger. The details of the error signal and total energy produced by
each controller can be referred to in Table 1.
VI. CONCLUSIONS
In this paper, the kinematics of the constrained underactuated BERUL fingers is used for Cartesian space
control. It has been shown that the Cartesian space control was successfully demonstrated in real time
implementation. In addition, the SMC is important to overcome the nonlinearities and uncertainties in
particular friction and stiction which are emanated fromthe BERUL fingers. It is found that the SMC
provides better normalized error for the ring and the thumb finger. However, the total control signal energy
is slightly higher for the thumb finger.
ACKNOWLEDGMENT
The CHRIS (Cooperative Human Robot Interaction Systems) project is funded by the European
Commissions Seventh Framework Programme (FP7) and run from2008- 2012. The research is also partially
funded by the Malaysian Government.
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0 10 20 30 40 50 60 70 80 90 100
-0.04
-0.02
0
Time (sec)
(
m
)
Demand
Actual
0 10 20 30 40 50 60 70 80 90 100
-2
0
2
x 10
-3
Time (sec)
E
r
r
o
r
(
m
)
0 10 20 30 40 50 60 70 80 90 100
-2000
0
2000
Time (sec)
C
o
n
t
r
o
l
S
i
g
n
a
l
(
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A
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164
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